EP3733037A1 - Système comprenant un appareil de traitement du sol guidé à la main, un appareil de traitement du sol à fonctionnement entièrement automatique et un dispositif de calcul - Google Patents

Système comprenant un appareil de traitement du sol guidé à la main, un appareil de traitement du sol à fonctionnement entièrement automatique et un dispositif de calcul Download PDF

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Publication number
EP3733037A1
EP3733037A1 EP20168123.6A EP20168123A EP3733037A1 EP 3733037 A1 EP3733037 A1 EP 3733037A1 EP 20168123 A EP20168123 A EP 20168123A EP 3733037 A1 EP3733037 A1 EP 3733037A1
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EP
European Patent Office
Prior art keywords
soil cultivation
cultivation device
area
soil
parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20168123.6A
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German (de)
English (en)
Other versions
EP3733037B1 (fr
Inventor
Hans-Peter Arnold
Thomas Büning
Benjamin Fleczok
Robert Frielinghaus
Martin Helmich
Lorenz Hillen
Christian Holz
Gerhard Isenberg
Andrej Mosebach
Roman Ortmann
Kevin Schmitz
Fabian Vitz
Niklas VAN TEEFFELEN
Uwe Kemker
Georg Hackert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vorwerk and Co Interholding GmbH
Original Assignee
Vorwerk and Co Interholding GmbH
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Publication of EP3733037A1 publication Critical patent/EP3733037A1/fr
Application granted granted Critical
Publication of EP3733037B1 publication Critical patent/EP3733037B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention relates to a system comprising a first soil cultivation device guided manually by a user within an environment, an exclusively automatically operated second soil cultivation device and a computing device, the first soil cultivation device having a detection device for detecting a parameter of the environment and / or an area to be worked, and wherein the second soil cultivation device has a navigation device for navigation and self-localization in the area.
  • Soil cultivation devices are known in the prior art as devices that are manually operated by a user or that move automatically. Furthermore, it is also known to operate a system of several tillage devices within a household, for example, and to use the advantages of manually guided tillage and automatically operated tillage in addition.
  • Floor treatment devices within the meaning of the invention can be, for example, cleaning devices such as vacuum cleaners and / or damp mopping devices, or polishing devices, floor polishing devices, grinding devices, lawn mowing devices or the like.
  • Soil cultivation devices operated manually by a user are usually characterized by a handle and / or handle on which the user holds the soil cultivation device over a surface to be worked, for example Floor area or above floor area.
  • the automatically operated soil cultivation devices are characterized by a navigation device for automatic orientation and localization within an environment, preferably on the basis of a map of the surroundings, the automatic soil cultivation device being able to move automatically within the environment, navigate using the environment map and, if necessary, carry out soil cultivation activities.
  • the object of the invention is to further develop a system consisting of a manually operated soil cultivation device and an automatically operated soil cultivation device in such a way that an optimal processing result and / or an optimal processing strategy can be achieved.
  • the invention proposes that the computing device of the system is set up to determine, on the basis of the parameter detected by the detection device of the first soil cultivation device, whether a certain area sub-area of the area to be cultivated is suitable for soil cultivation by the second soil cultivation device.
  • the computing device is now designed to use the data recorded by the first soil cultivation device to determine whether a certain partial area could also be cleaned with the second soil cultivation device or instead of the first soil cultivation device.
  • the computing device can be a local computing device of the first or second soil cultivation device, or alternatively a computing device which is designed separately from the soil cultivation devices and which is arranged, for example, in a mobile terminal of the user, a fixed PC, a remote server or the like.
  • the system preferably has a communication network, in particular a wireless communication network, for example a WLAN.
  • the detection device of the first soil cultivation device detects one or more parameters of the environment or of the area to be worked.
  • This data can already be processed by means of the computing device while the first soil cultivation device is in use or even after the soil cultivation activity has been completed, in order to evaluate the recorded parameters to determine whether one or more subareas of the area are suitable for soil cultivation by the second, i.e. exclusively automatically operated soil cultivation device .
  • the environment of the system can be subdivided into subareas which are only suitable for soil cultivation by the first soil cultivation device, only for soil cultivation by the second soil cultivation device or for soil cultivation by both the first soil cultivation device and the second soil cultivation device.
  • the computing device can also have a map of the surroundings, in which the surface subareas are defined and in which it is stored which soil cultivation device or devices of the system are suitable for the soil cultivation of the respective surface subarea.
  • Surface subareas that can be processed by the automatically operated, second soil cultivation device are also actually processed by the second soil cultivation device so that the user has to carry out manual soil cultivation by means of the first soil cultivation device in as few surface areas as possible. This enables the user in particular a time-saving soil cultivation in the area, in which as many soil cultivation steps as possible are automatically taken over by the second soil cultivation device.
  • the parameter detected by the detection device of the first soil cultivation device is a parameter of the surface partial area which restricts and / or prevents the soil cultivation and / or drivability of the surface sub-area.
  • the parameter can be a type of soil, a type of soiling, a degree of soiling, a frequency of soiling and / or a standing or hanging obstacle.
  • the detected parameters differentiate subareas in which soil cultivation by the second soil cultivation device is possible from subareas in which soil cultivation by the second soil cultivation device is not possible.
  • a type of soil, a type of soiling, a degree of soiling, a frequency of soiling and / or an obstacle affecting the respective area subarea just excludes soil cultivation by the second soil cultivation device, since the second soil cultivation device, for example, due to its spatial dimension, its available processing power or other device parameters are not suitable.
  • the "floor type” parameter can be classified into, for example, hard floors, carpets, carpets, high-pile carpets or carpets, low-pile carpets Carpets or carpeting, easily movable carpets or rugs.
  • the parameter “type of pollution” can be divided into coarse material, fine material, dust, leftover food, sticky soiling, liquids or the like, for example.
  • the "degree of soiling” parameter can be divided into different levels of soiling such as not soiled, lightly soiled, average heavily soiled, above average heavily soiled, very soiled. A finer subdivision of the degree of soiling is of course also possible.
  • the parameter "soiling frequency" indicates how often a soil cultivation or cleaning should be carried out by the soil cultivation device. In front of a kitchen worktop or under a dining table, for example, very frequent soiling can be recorded, so that floor preparation also has to be carried out very frequently in this area of the surface. The computing device of the system can then determine whether the automatically operating soil cultivation device is available for such frequent work assignments, in particular taking into account a battery charge.
  • a detected parameter is preferably also the presence or absence of an obstacle in front of, in or above the surface sub-area in question, wherein the detected obstacle can in particular exclude drivability or tillage by the second tillage device, for example because the tillage device is not even in can drive into the surface sub-area or would come across a standing obstacle or an obstacle hanging over the surface sub-area.
  • the detection device for recording these parameters can be, for example, a camera, a distance sensor, a contact sensor, a particle sensor, a detection device for detecting a current consumption of a drive motor of the soil cultivation device or the like.
  • the computing device is set up to select one parameter from at least one detected parameter Area subarea to calculate characteristic key figure.
  • the preferably dimensionless characteristic number enables the detection results to be compared in different subareas of the area or also in the same subarea at different times.
  • the characteristic number can be calculated from just a single detected parameter, or from several detected parameters.
  • a degree of pollution can be specified, for example, with a degree of pollution between "1" and "5".
  • the detected parameter is a soil type, this can also be represented, for example as a key figure for an intensity of soil cultivation in stages from 1 to 5, from “1" for "easy to clean” to "5" for "difficult” to clean".
  • a hard floor would be given the number "1”, while a high-pile carpet would be rated "5".
  • the computing device thus generates a type of index for one or more surface sub-areas of the area to be worked, which expresses whether a surface sub-area would be suitable to be cleaned by means of the second soil cultivation device.
  • Typical indicators that a partial area can be worked by means of the second soil cultivation device are, for example, a non-critical floor covering that does not require deep cleaning, or a largely obstacle-free area that is easy to clean for the second soil cultivation device.
  • a parameter that can also be used to measure machinability by the second soil cultivation device is, for example, whether partial areas are geometrically related in such a way that that these can be worked directly afterwards one after the other without having to cross subareas that are not accessible for working by the second soil working device.
  • the characteristic number is additionally dependent on a parameter of the second soil cultivation device.
  • a parameter of the second soil cultivation device can be, for example, its height above a floor surface, width, volume, geometric shape, available work accessories, available power levels, available charge status of a battery or the like.
  • the parameter of the second soil cultivation device can in particular be a characteristic device parameter and / or processing parameter of the second soil cultivation device.
  • the key figure i.e. H.
  • the machinability of the defined surface sub-area depends not only on the parameters of the surface sub-area, but also on one or more parameters of the second soil cultivation device which, if necessary, is to be used for soil cultivation of this surface sub-area.
  • the first soil cultivation device is set up to transmit information to the second soil cultivation device that the specific surface sub-area is suitable for soil cultivation by the second soil cultivation device.
  • the first soil cultivation device guided manually by a user, thus informs the automatically operated second soil cultivation device, in particular on the basis of the previously described key figures, which surface subareas can be worked by the second soil cultivation device.
  • the second soil cultivation device can then work on these subareas.
  • an advantageous sequence of soil cultivation of a plurality of surface sub-areas can optionally be established.
  • provision can be made be that the second soil cultivation device is set up to transmit information to the first soil cultivation device as to whether the specific surface sub-area is suitable for soil cultivation by the second soil cultivation device.
  • the second soil cultivation device can determine when carrying out a soil cultivation activity - or in particular also in advance - that it has problems in the soil cultivation of certain surface sub-areas. These subareas can also be, for example, those which the computing device has previously classified as being suitable for soil cultivation by the second soil cultivation device.
  • the second soil cultivation device can communicate these partial areas to the first soil cultivation device.
  • a separate computing device of the second soil cultivation device can also determine from the detection data of the first soil cultivation device which subareas can be worked very well by the second soil cultivation device.
  • the second soil cultivation device can process these autonomously in the future.
  • the second soil cultivation device have a computing device which is set up to take into account the information from the first soil cultivation device when navigating using the navigation device and / or in an activity planned in advance using an activity calendar, so that the second soil cultivation device processed the defined surface area.
  • the automatically operated second soil cultivation device has an activity calendar in which future cultivation activities for the soil cultivation device are planned.
  • This calendar can have soil cultivation activities stored according to date and / or time, for example, which are to be carried out once or repeatedly by the second soil cultivation device. For example, a planned activity may involve a child's room every Monday morning cleaned at 10:00 a.m.
  • the computing device determines subareas of an area that can be cleaned by means of the second soil cultivation device, information in this regard is transmitted to the second soil cultivation device so that a corresponding entry can be made in the activity calendar.
  • a contamination frequency can also be used which was previously determined by means of the detection device of the first soil cultivation device.
  • the second soil cultivation device then approaches the subareas that it can work on either immediately or in accordance with a planned deployment and / or path plan.
  • the first soil cultivation device have a user interface, by means of which a user is shown that a certain area sub-area of the area to be worked, in particular a surface sub-area currently traveled over by the first soil cultivation device, is suitable for soil cultivation by the second soil cultivation device.
  • the user when manually cultivating a surface area, the user is made aware of the first soil cultivation device operated by him when he is working a surface partial area suitable for the second soil cultivation device, so that he can abort the soil cultivation process and turn to those surface partial areas that are not instead can be processed by the second soil cultivation device, but require manual soil cultivation by the first soil cultivation device.
  • the user interface of the first tillage device can be, for example, a display that outputs a message in text and / or image form.
  • the user interface can also be an acoustic output device which, for example, plays a tone or a tone sequence if it is a surface area that can be processed by the second soil cultivation device.
  • the user interface can also be a communication interface via which the first soil cultivation device can transmit data to an external device of the user, for example to a mobile device such as a mobile phone, a tablet computer or the like.
  • the second soil cultivation device is set up, in the event that soil cultivation by the second soil cultivation device fails, to transmit information to the first soil cultivation device that the specific area sub-area cannot be worked with the second soil cultivation device.
  • the second soil cultivation device can also transmit information to the first soil cultivation device, namely in the sense that information is transmitted to the first soil cultivation device or, accordingly, also to the user that a certain area sub-area could not be cultivated. On the basis of this information, the user is informed that he should work on this subarea manually using the first soil cultivation device.
  • Figure 1 shows schematically a floor plan of an apartment with several rooms.
  • a first soil cultivation device 1 operated exclusively manually by a user, and an exclusively automatically operated second soil cultivation device 2.
  • the first soil cultivation device 1 is here, for example, a hand-held vacuum cleaner which, with reference to Figure 2 is explained in more detail.
  • the automatically operated soil cultivation device 2 is here, for example, a robot vacuum cleaner which, with reference to Figure 3 is shown in more detail.
  • the surroundings of the soil cultivation devices 1, 2 include the usual room boundaries such as walls and other obstacles 18.
  • the obstacles 18 include furniture such as a table with a plurality of rocking chairs.
  • This base station 17 has devices and means to carry out service activities on the automatically operated second soil cultivation device 2 or possibly also further soil cultivation devices 1, 2.
  • the service activities include, for example, charging a battery of a soil cultivation device 1, 2, the emptying of a dust collection chamber of a soil cultivation device 1, 2, the cleaning of a soil cultivation element 16 (see for example Figure 3 ) a tillage device 1,2 or the like.
  • the subareas 6, 7, 8 are characterized by different parameters, for example the type of floor of the subarea 6, 7, 8 to be cleaned or obstacles 18 in this area.
  • the different rooms are here, for example, a bathroom, a hallway Dining room and kitchen.
  • a surface area 6 which has an arrangement of a table with several chairs.
  • the bathroom has, inter alia, a surface area 7 which contains an easily displaceable bathroom carpet.
  • the soil cultivation device 1 guided manually by a user has according to FIG Figure 2 a base unit 10 and a floor nozzle 9 detachably connected to the base unit 10 via a connection area 15.
  • the floor nozzle 9 is here, for example, a suction nozzle with a cleaning brush, not shown in detail, on the underside, which forms a floor treatment element 16.
  • the floor nozzle 9 has wheels 20 in order to be able to move the floor cultivation device 1 overall with little resistance over the floor surface to be cleaned.
  • the wheels 20 or also the soil cultivation element 16 can be motor-driven in order to support the movement of the soil cultivation device 1 and the handling for a user to facilitate.
  • the base device 10 has a handle 13 with a handle 14.
  • a switch 12 is arranged on the handle 14, which is used to switch a suction device on and off, not shown here. It is also possible, for example, to set different suction power levels of the suction device via switch 12.
  • a user interface 19 in the form of a display is formed on the handle 14. The user interface 19 can display messages to a user through text and / or images.
  • the soil cultivation device 1 furthermore has a detection device 4, which here is a camera arranged on the floor nozzle 9. The camera records images of the surroundings, in particular including the obstacles 18 and the floor surface to be cleaned.
  • the floor nozzle 9 also has, for example, a localization device or navigation device 5, by means of which the soil cultivation device 1 can be localized within the surroundings.
  • the soil cultivation device 1 has a computing device 3 arranged here, for example, in the base device 10.
  • the computing device 3 can use, for example, the images from the detection device 4 and / or, for example, the measurement data of a device to localize the soil cultivation device 1
  • Inertial sensor (not shown here), which is assigned to the wheels 20 of the floor nozzle 9, or measurement data from another sensor.
  • the inertial sensor detects, for example, the wheel rotation of the wheels 20, so that conclusions can be drawn about a distance covered by the soil cultivation device 1 and, if necessary, a change in direction of the soil cultivation device 1 while moving through the surroundings.
  • the computing device 3 also serves to evaluate the camera images recorded by the detection device 4 in order to evaluate parameters of the detected floor area of the surroundings.
  • the computing device 3 can, for example determine whether the surface subregions 6, 7, 8 of the surroundings are suitable for being cleaned by the automatically operated second soil cultivation device 2.
  • the cleanability by means of the second soil cultivation device 2 could be excluded, for example, if a surface sub-area 6, 7, 8 has a plurality of obstacles 18 that are close to one another and between which the second soil cultivation device 2 cannot move.
  • the type of floor covering can also exclude automatic cleanability by the second floor cultivation device 2.
  • the first soil cultivation device 1 also has a communication module 11, which is used to communicate with a corresponding communication module 11 of the second soil cultivation device 2 and in particular to transmit information to the second soil cultivation device 2 that a certain surface area 6, 7, 8 is for a Cultivation by the second cultivation device 2 is suitable or not suitable. Information can also be sent in the opposite direction, i.e. H. are transmitted from the second soil cultivation device 2 to the first soil cultivation device 1.
  • the communication modules 11 are here, for example, WLAN modules that allow wireless communication between the soil cultivation devices 1, 2 of the system. Although only two soil cultivation devices 1, 2 are shown here by way of example, the system can also have a plurality of further soil cultivation devices 1, 2.
  • Second soil cultivation device 2 shown in more detail has motor-driven wheels 20 and a soil cultivation element 16, which is designed here, for example, as a rotating bristle roller, the length of which is oriented essentially horizontally to a floor surface to be cleaned.
  • the second tillage device 2 has a communication module 11, embodied here as a WLAN module, for example, in order to be able to receive the information from the first soil cultivation device 1 and / or to be able to transmit information to the first soil cultivation device 1.
  • the second soil cultivation device 2 furthermore has a computing device 3, which is set up to evaluate the information from the first soil cultivation device 1 and convert it into control commands, including control commands for a navigation device 5 of the second soil cultivation device 2.
  • the navigation device 5 is used for the independent movement of the second soil cultivation device 2 within the environment.
  • the navigation device 5 can, for example, be assigned a distance measuring device, for example a laser scanner, which can detect distances to obstacles 18 preferably in a 360 ° angular range.
  • the computing device 3 processes the measured distance data into an example in Figure 4 illustrated environment map 21, which contains a floor plan of the environment, ie here the rooms of an apartment, locations of obstacles 18 including room boundaries, the position of the base station 17 and the like.
  • the environment map 21 is used for navigation and self-localization of the second soil cultivation device 2 within the environment.
  • the soil cultivation device 2 can, for example, use a so-called SLAM algorithm (Simultaneous Localization And Measurement algorithm) to create the environment map 21.
  • SLAM algorithm Simultaneous Localization And Measurement algorithm
  • the environment map 21 according to Figure 4 also contains information about parameters of the area subareas 6, 7, 8 contained in the environment.
  • the area subareas 6, 7, 8 are assigned code numbers 22 which indicate whether the assigned area subarea 6, 7, 8 is for soil cultivation by the automatically operated second Soil cultivation device 2 is suitable.
  • the code numbers 22 range from, for example, “1” to “5”, so that a total of five different stages for determining suitability for cultivation by the second soil cultivation device 2 are given.
  • the key figure “1” stands for a problem-free cleaning of the corresponding surface subarea 6, 7, 8 by means of the second soil cultivation device 2.
  • Such surface subareas 6, 7, 8 are for example hard floors, in particular tiled floors, which can be easily cleaned by the second soil cultivation device 2.
  • the code number “2” stands, for example, for surface subareas 6, 7, 8 which have a wooden floor and can basically be cleaned just as easily (but should not be cleaned too wet, for example).
  • the code number “5”, on the other hand, indicates subareas 6, 7, 8 which are difficult to clean and in which cleaning by the second soil cultivation device 2 is almost impossible. These include, for example, a bath carpet in the surface sub-area 7, which cannot be overcome by the second soil cultivation device 2, or a combination of a dining table and a plurality of rocking chairs arranged around it, which is arranged in the surface sub-area 6 and whose pedestals do not overcome the second soil cultivation device 2 can or shouldn't overcome.
  • the key figures 22 of the surface subareas 6, 7, 8 are determined by the computing device 3 of the first soil cultivation device 1. This is explained in more detail below.
  • the soil cultivation devices 1, 2 can also be configured differently, for example not only as vacuum cleaners, but also, for example, as wiping devices, polishing devices or the like.
  • the specific type of soil cultivation equipment 1, 2 does not change the way the system works.
  • the system can also contain a large number of other cultivation devices 1, 2 or other devices, such as service robots, monitoring robots or the like, which do not carry out any cultivation activities, but with the cultivation devices 1, 2 shown in the Sense of a home network are in communication and can provide data, in particular for creating the map of the area 21.
  • the invention works in such a way that the user uses the first, here manually guided, soil cultivation device 1 through the in Figure 1
  • the environment shown shifts that is essentially defined by the environment map 21 according to FIG Figure 4 is reproduced.
  • the user follows an arbitrary movement path in order to clean the surface subareas 6, 7, 8 of the surroundings.
  • the detection device 4 of the first soil cultivation device 1 detects features of the environment, namely here, for example, existing obstacles 18 and parameters of the floor area in the area subregions 6, 7, 8 (and others) of the environment.
  • the parameters detected by the detection device 4 are evaluated by the computing device 3 of the first soil cultivation device 1, with this evaluation alternatively also being carried out in a computing device 3 external to the first soil cultivation device 1, for example in a central server of a home network. assigned. Furthermore, as an alternative, the calculations could also be carried out in the computing device 3 of the second soil cultivation device 2.
  • the parameters detected by the detection device 4 of the first soil cultivation device 1 indicate whether soil cultivation and / or driving over the respective surface subarea 6, 7, 8 by the second soil cultivation device 2 is possible.
  • Such a parameter can be the respective type of soil or, for example, a type of soiling present on the floor surface, a degree of soiling of the soiling or the existence of a standing or hanging obstacle 18 which prevents the second soil cultivation device 2 from driving over the surface subarea 6, 7, 8.
  • the computing device 3 of the first soil cultivation device 1 recognizes, for example, that the bathroom has a surface area 7 with a deep-pile bath carpet which is too high to be overcome by the automatic, second soil cultivation device 2 and / or is so light, that the second soil cultivation device 2 would move it relative to the subsurface when attempting to cultivate it.
  • the computing device 3 assigns this surface sub-area 7 (as in the map of the surroundings Figure 4 shown in more detail) the code number 22 "5", which means that this surface sub-area 7 cannot be worked by the second soil cultivation device 2.
  • the computing device 3 of the first soil cultivation device 1 transmits the code 22 to the second soil cultivation device 2, which enters it into the map 21 using its own computing device 3 and takes it into account during soil cultivation by the second soil cultivation device 2.
  • code numbers 22 are also assigned to the further area subareas 6, 8 of the surroundings.
  • the surface sub-area 8 here belongs, for example, to a hallway of the apartment and has a tiled floor that can be easily cleaned by the second floor cultivation device 2.
  • the surface sub-area 8 is therefore given the code 22 “1”.
  • the dining room contains a subarea 6 with a seating group consisting of a table and a large number of rocking chairs, the floor frames of which cannot or should not be overcome by the second floor cultivation device 2.
  • This subarea 6 is detected by the detection device 4 and receives the code 22 “5” from the computing device 3, which identifies a subarea 6 which may or should not be worked by the second soil cultivation device 2.
  • the floor area that is also present in the dining room in addition to the area subarea 6 is given the code 22 “2”, which means that it may be worked by the second soil cultivation device 2.
  • This sub-area is equipped, for example, with a wooden floor, which is basically easy to clean, but does not require increased fluid intake (for example Example wiper fluid) may be exposed.
  • one or more other parameters of the respective sub-area 6, 7, 8 can also flow into the code 22 of the respective sub-area 6, 7, 8, namely, as mentioned above, for example, a type of pollution there, a degree of pollution, a pollution frequency or others.
  • the computing device 3 can then determine a characteristic number 22 that takes all parameters into account. The closer this code 22 is to the lowest code 22 “1”, the less problematic cleaning by the second soil cultivation device 2 is possible there. However, the closer the code 22 is to the code 22 “5”, the sooner this subarea 6, 7, 8 may not be worked by the second soil cultivation device 2.
  • the code 22 preferably also takes into account parameters of the second soil cultivation device 2, namely here its spatial dimension, which determines whether the second soil cultivation device 2 is between obstacles 18 at a certain distance from one another or, for example, under an obstacle 18, such as a low sofa or bed, can drive.
  • a characteristic device parameter can also be a climbing height of the second soil cultivation device 2, which indicates whether the second soil cultivation device 2 can, for example, climb a low obstacle 18 such as a carpet.
  • the first soil cultivation device 1 transmits the calculated identification numbers 22 to the second soil cultivation device 2, whereupon the second soil cultivation device 2 enters the identification numbers 22 in the map 21 of the surroundings.
  • the second soil cultivation device 2 can take the code numbers 22 into account in a subsequent soil cultivation and here, for example, adapt an application and / or path planning so that area subregions 6, 7, which have the code number 22 "5", are left out during the processing Area subarea 8 without restrictions by means of the second Soil cultivation device 2 is cleaned.
  • the automatically operated second soil cultivation device 2 can furthermore carry out soil cultivation in accordance with a stored activity calendar which contains activities planned in advance, including, for example, temporally recurring cultivation activities.
  • the user can also be informed about parameters of a surface sub-area 6, 7, 8, for example via the user interface 19 of the first soil cultivation device 1.
  • the user is already informed by the user interface 19 during a manual cleaning of these surface subareas 6, 7, 8 that he is currently cleaning a surface subarea 6, 7, 8 which could alternatively also be cleaned with the second soil cultivation device 2.
  • This opens up the possibility for the user to end the manual cleaning of this surface subarea 6, 7, 8 and to leave the cleaning to the second soil cultivation device 2 instead. This effectively saves the user time in processing the entire apartment.
  • the second soil cultivation device 2 can also transmit messages to the first soil cultivation device 1, namely, for example, information about the occurrence of a problem during the automatic cultivation of a subarea 6, 7, 8.
  • the first soil cultivation device 1 receives this information and can then in turn contact the user via make the user interface 19 aware of the problem at hand.
  • the user can then, for example, undertake manual soil cultivation in these subareas 6, 7, 8.
  • the user interface 19 can, for example, also be a data communication interface instead of a display have, via which a message is transmitted to an external terminal, such as a mobile phone.
  • the second soil cultivation device 2 can transmit information to the first soil cultivation device 1, for example on the basis of the environment map 21, as to which surface subregions 6, 7, 8 the second soil cultivation device 2 can work on itself.
  • the second soil cultivation device 2 can recognize surface sub-areas 6, 7, 8 which have a particularly low code number 22 or which form contiguous areas that can be reached without having to overcome obstacles 18.
  • the second soil cultivation device 2 can approach these surface subareas 6, 7, 8 autonomously in the future, whereby the user can then be informed that these surface subareas 6, 7, 8 have already been cleaned automatically by the second soil cultivation device 2 and thus no manual cleaning by the Users require more.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
EP20168123.6A 2019-04-11 2020-04-06 Système comprenant un appareil de traitement du sol guidé à la main, un appareil de traitement du sol à fonctionnement entièrement automatique et un dispositif de calcul Active EP3733037B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102019109596.4A DE102019109596A1 (de) 2019-04-11 2019-04-11 System aus einem manuell geführten Bodenbearbeitungsgerät, einem ausschließlich automatisch betriebenen Bodenbearbeitungsgerät und einer Recheneinrichtung

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EP3733037A1 true EP3733037A1 (fr) 2020-11-04
EP3733037B1 EP3733037B1 (fr) 2022-01-12

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US (1) US11460859B2 (fr)
EP (1) EP3733037B1 (fr)
JP (1) JP2020171684A (fr)
CN (1) CN111811510A (fr)
DE (1) DE102019109596A1 (fr)
ES (1) ES2908862T3 (fr)
TW (1) TW202042731A (fr)

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TWI779521B (zh) * 2021-03-17 2022-10-01 旺玖科技股份有限公司 地板材質識別裝置以及具有該地板材質識別裝置的吸頭和吸塵器

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EP3733037B1 (fr) 2022-01-12
TW202042731A (zh) 2020-12-01
US20200323412A1 (en) 2020-10-15
ES2908862T3 (es) 2022-05-04
CN111811510A (zh) 2020-10-23
US11460859B2 (en) 2022-10-04
DE102019109596A1 (de) 2020-10-15
JP2020171684A (ja) 2020-10-22

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